# Camera Coordinate System and Conventions¶

## Camera¶

The pose of a camera, conceptually, consists of two things:

Which direction does it face in, i.e. its local coordinate axes

Where is it, i.e. the position of the camera origin

### Local coordinate system of camera¶

These online docs say that, from the POV of a camera (a.k.a. a `Shot`

object):

The z-axis points

**forward**The y-axis points

**down**The x-axis points to the

**right**

In the 3D reconstruction viewer, the axes go Red, Green, Blue: x, y, z.

The OpenSfM `Pose`

class contains a `rotation`

field, representing
the local coordinate system as an **axis-angle vector**.

The

**direction**of this 3D vector represents the**axis**around which to rotate.The

**length**of this vector is the**angle**to rotate around said axis. It is in radians.

### Camera position¶

To get and/or set the actual the actual camera position in world coordinate, one has to use `get_origin()`

/`set_origin()`

.